Motions of a rimless spoked wheel: a simple three-dimensional system with impacts

DOI10.1080/02681119708806242zbMATH Open0932.70007OpenAlexW1979422127MaRDI QIDQ4366136FDOQ4366136

Andy L. Ruina, Michael Coleman, Anindya Chatterjee

Publication date: 23 March 2000

Published in: Dynamics and Stability of Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/02681119708806242

zbMATH Keywords

collisionsstability of periodic motionscomputer-algebra based techniquemodel of walking machinePoincaré section methodsloping surface

Mathematics Subject Classification ID

Motion of a rigid body in contact with a solid surface (70E18) Stability problems in rigid body dynamics (70E50)

Cites Work

• Nonlinear oscillations, dynamical systems, and bifurcations of vector fields
• Nonsmooth impact mechanics. Models, dynamics and control
• A periodically forced piecewise linear oscillator
• The transition to chaos in a simple mechanical system
• Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment
• Dynamic Behavior of a Bilinear Hysteretic Elasto-Plastic Oscillator, Part I: Free Oscillations

Cited In (17)

• Dynamics and stability of a rimless spoked wheel: a simple 2D system with impacts
• A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking
• Exact and perturbation methods in the dynamics of legged locomotion
• Higher order transverse discontinuity mapping for hybrid dynamical systems
• Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion
• Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
• Dynamic Bipedal Walking under Stick-Slip Transitions
• Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking
• Existence and stability of limit cycles in the model of a planar passive biped walking down a slope
• Spring-mass running: simple approximate solution and application to gait stability
• Self-stability of a simple walking model driven by a rhythmic signal
• Nonholonomic stability aspects of piecewise holonomic systems
• Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control
• An approximate solution of the SLIP model under the regime of linear angular dynamics during stance and the stability of symmetric periodic running gaits
• Passive walking towards running
• Stability analysis of underactuated compass gait based on linearization of motion
• An upper-body can improve the stability and efficiency of passive dynamic walking

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